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An observer-based boundary controller for infinite-dimensionalport-Hamiltonian systems defined on 1D spatial domains is proposed. The designis based on an early-lumping approach in which a finite-dimensionalapproximation of the infinite-dimensional system derived by spatialdiscretization is used to design the observer and the controller. As long asthe finite-dimensional approximation approaches the infinite-dimensional model,the performances also do. The main contribution is a constructive method whichguarantees that the interconnection between the controller and theinfinite-dimensional system is asymptotically stable. A Timoshenko beam modelhas been used to illustrate the approach.

Observer-based boundary control of distributed port-Hamiltonian systems